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28 lines
639 B
28 lines
639 B
controller_manager:
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ros__parameters:
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update_rate: 2 # Hz
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stretch_arm_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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joint_state_controller:
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type: joint_state_controller/JointStateController
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gripper_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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stretch_arm_controller:
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ros__parameters:
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joints:
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- joint_lift
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- joint_arm_l3
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- joint_arm_l2
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- joint_arm_l1
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- joint_arm_l0
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- joint_wrist_yaw
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gripper_controller:
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ros__parameters:
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joints:
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- joint_gripper_finger_left
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- joint_gripper_finger_right
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